Siemens SIMOTION Function Manual page 66

Basics of Path Interpolation
2.13 Kinematic adaptation
Figure 2-55
Unraveling the lateral surface results in a 2D plane, for which coordinate-plane and offset
parameters can be assigned in the same way as with Cartesian 2D kinematics. The offsets
are applied to the set coordinate plane and rotation is about the axis that is perpendicular to
the plane.
Figure 2-56
Depending on the plane used, the following parameters are effective:
X_Y plane:
Offset in X and Y directions and rotation about the Z axis
Y_Z plane:
Offset in Y and Z directions and rotation about the X axis
Z_X plane:
Offset in Z and X directions and rotation about the Y axis
With this type of kinematics, rotation does not serve any useful purpose.
LinkCompensationA1 and LinkCompensationA2 and angular offsetA1 at rotary joint A1 work
in the same way as with SCARA kinematics.
66
A 4 A 4
A 2 A 2
y y
A 1 A 1
x x
Kinematics working area
A 2 A 2 A 2
A 1 A 1 A 1
Kinematic offset and rotation
A 1 A 1
A 2 A 2
y y
x x
A 4 A 4 A 4
y y y
x x x
A 4 A 4
TO Path Interpolation
Function Manual, 11/2010